Vehicle system for recognizing objects

ABSTRACT

A vehicle system includes an electronic control unit. The electronic control unit is configured to execute a first program, a second program, and a third program. The first program is configured to recognize an object present around a vehicle, the second program is configured to store information related to the recognized object as time-series map data, and the third program is configured to predict a future position of the object based on the stored time-series map data. The first program and the third program are configured to be (i) first, individually optimized based on first training data corresponding to output of the first program and second training data corresponding to output of the third program, and (ii) then, collectively optimized based on the second training data corresponding to the output of the third program.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application No.2017-102634 filed on May 24, 2017, which is incorporated herein byreference in its entirety including the specification, drawings andabstract.

BACKGROUND 1. Technical Field

The present disclosure relates to a vehicle system that predicts themotion of an object present around a vehicle.

2. Description of Related Art

A technology referred to as occupancy grid map (OGM) that represents amap showing a vehicle and its surrounding area on regions divided into agrid shape is known (refer to Japanese Unexamined Patent ApplicationPublication (Translation of PCT Application) No. 2016-522508 (JP2016-522508 A)). A technology that considers individual optimization andglobal optimization in an optimization problem having a plurality ofevaluation functions is disclosed (refer to Japanese Unexamined PatentApplication Publication No. 2002-366587 (JP 2002-366587 A)).

SUMMARY

For example, occupancy grid map (OGM) may be used for predicting afuture position of an object (another vehicle, a pedestrian, or thelike) present around a vehicle. However, when the number of objectspresent around the vehicle or the number of their types is increased, atechnical problem arises in that a calculation load for the predictionis increased. An increase in calculation load is considered to bereduced by machine learning, but a sufficient effect may not be achievedwithout an appropriate learning model.

The present disclosure provides a vehicle system that can suitablypredict a future position of an object present around a vehicle.

An aspect of the present disclosure relates to a vehicle systemincluding an electronic control unit. The electronic control unitconfigured to execute a first program, a second program, and a thirdprogram. The first program is configured to recognize an object presentaround a vehicle, a second program is configured to store informationrelated to the object recognized by the first program as time-series mapdata, and a third program is configured to predict a future position ofthe object based on the time-series map data stored by the secondprogram. The first program and the third program are configured to be(i) first, individually optimized based on first training datacorresponding to output of the first program and second training datacorresponding to output of the third program, and (ii) then,collectively optimized based on the second training data correspondingto the output of the third program.

When programs are individually optimized (that is, individualoptimization), optimization specialized for the function of each programcan be implemented, but optimization considering the function of asystem as a whole cannot be implemented. When a plurality of programs iscollectively optimized (that is, global optimization) from thebeginning, there is a possibility of a significant increase inprocessing load needed for optimization. Since the global optimizationdoes not consider the function of each program, a true optimal value(that is, the best value achievable by optimization) may not beachieved, and there is a possibility that the effect of optimization isnot sufficiently achieved.

Meanwhile, the vehicle system according to the aspect of the presentdisclosure first performs the individual optimization of each of thefirst program and the third program, and then, performs the globaloptimization. When optimization is performed in such a stepwise manner,the global optimization that has a relatively high processing load isperformed in a state where optimization specialized for the function ofeach program is implemented by the individual optimization having arelatively low processing load. Accordingly, optimization that has alower processing load and a higher effect than when the globaloptimization is performed from the beginning can be implemented.Consequently, the future position of the object present around thevehicle can be suitably predicted.

The effects and other advantages of the present disclosure will becomemore apparent from the embodiment set forth below.

BRIEF DESCRIPTION OF THE DRAWINGS

Features, advantages, and technical and industrial significance ofexemplary embodiments of the disclosure will be described below withreference to the accompanying drawings, in which like numerals denotelike elements, and wherein:

FIG. 1 is a block diagram illustrating a configuration of a vehicleaccording to an embodiment;

FIG. 2 is a configuration diagram of a control program stored in an ECU;

FIG. 3 is a conceptual diagram illustrating one example of a grid mapaccumulated in an OGM program;

FIG. 4 is a plan view illustrating one example of a grid map representedby discrete values;

FIG. 5 is a plan view illustrating one example of a grid map representedby a probability distribution;

FIG. 6 is a configuration diagram of a motion prediction program;

FIG. 7 is a flowchart illustrating a flow of operation of the motionprediction program;

FIG. 8 is a conceptual table illustrating a method of determining ahabit category;

FIG. 9 is a conceptual diagram illustrating input and output of themotion prediction program;

FIG. 10 is a conceptual diagram illustrating individual optimization ofa recognition program;

FIG. 11 is a conceptual diagram illustrating individual optimization ofthe motion prediction program; and

FIG. 12 is a conceptual diagram illustrating global optimization ofthree programs.

DETAILED DESCRIPTION OF EMBODIMENTS

An embodiment according to a vehicle system of the present disclosurewill be described based on the drawings.

Configuration of Vehicle

First, a configuration of a vehicle in which a vehicle system accordingto the embodiment is mounted will be described with reference to FIG. 1.FIG. 1 is a block diagram illustrating a configuration of a vehicleaccording to the embodiment.

In FIG. 1, a vehicle 1 according to the present embodiment is configuredto include a sensor 10, an electrical control unit (ECU) 20, an engine30, communication interfaces 15, 25, and a user interface 35. The ECU 20is a specific example of an “electronic control unit”.

The sensor 10 is configured to include a vehicle-mounted camera, aradar, Laser Imaging Detection and Ranging (LIDAR), or the like anddetects an object (specifically, an object A50 a and an object B50 b inFIG. 1) that is present around the vehicle 1. The object A 50 a and theobject B 50 b is a specific example of an “object” and is exemplified byanother vehicle, a pedestrian, a bicycle, or the like.

The ECU 20 is a control unit including calculation circuits such as acentral processing unit (CPU) and a graphics processing unit (GPU), andis configured to control the operation of each unit of the vehicle 1.The detection result of the sensor 10 is input into the ECU 20 throughthe communication interface 15, and the ECU 20 processes the detectionresult of the sensor 10 using a control program 100. The control program100 outputs a control signal generated as a processing result to theengine 30 through the communication interface 25. The control program100 provides a driver 40 with information related to the processingresult through the user interface 35. A specific configuration of thecontrol program 100 will be described in detail below.

The engine 30 is a main power source of the vehicle 1 and outputs atorque by combusting fuel such as gasoline. The torque output by theengine 30 is usually controlled based on an operation of an acceleratorpedal performed by the driver 40. When the vehicle 1 is under anautonomous driving control or a semi-autonomous driving control (thatis, autonomous driving in which the driver 40 performs at least a partof driving operations), the control program 100 of the ECU 20 controlsthe output torque of the engine 30. The vehicle 1 may be an electricvehicle having a power source such as a motor instead of the engine 30,or may be a hybrid vehicle having a power source such as a motor inaddition to the engine 30. In such a case, the ECU 20 may control theoperation of the power source such as a motor in addition to or insteadof the engine 30.

Configuration of Control Program

A configuration of the control program 100 in the ECU 20 will bespecifically described with reference to FIG. 2. FIG. 2 is aconfiguration diagram of the control program stored in the ECU 20.

In FIG. 2, the control program 100 is configured to include arecognition program 110, an OGM program 120, a motion prediction program130, a path planning program 140, and an engine control program 150.

The recognition program 110 recognizes the object present around thevehicle 1 from sensor input (that is, the detection result of the sensor10). A specific method for recognizing the object can appropriatelyemploy a well-known technology such as single shot multibox detector(SSD) and multi-scale deep convolutional neural network (MS-CNN) andthus, will not be described in detail here. The recognition program 110is a specific example of a “first program”.

The OGM program 120 generates a two-dimensional grid map representingcurrent position information of the object based on the detection resultof the recognition program 110. The OGM program 120 outputs informationrelated to the generated grid map to the motion prediction program 130and generates a grid map representing future position information of theobject based on prediction information input from the motion predictionprogram 130. The operation of the OGM program 120 will be described inmore detail below. The OGM program 120 is a specific example of a“second program”.

The motion prediction program 130 predicts a motion (in other words, afuture position) of the recognized object based on time-series data(that is, a plurality of grid maps generated at different timings)generated by the OGM program 120. The operation of the motion predictionprogram 130 will be described in detail below. The motion predictionprogram 130 is a specific example of a “third program”.

The path planning program 140 generates a traveling schedule (forexample, a traveling path and a vehicle speed) of the vehicle 1 when thevehicle 1 is under the autonomous driving control or the semi-autonomousdriving control. Specifically, the path planning program 140 generatesthe traveling schedule of the vehicle 1 to avoid collision with orapproaching too close to the object based on the position information ofthe object accumulated until the present time in the OGM program 120 andthe future position information of the object. A specific method forgenerating the traveling schedule of the vehicle 1 can appropriatelyemploy a well-known technology and thus, will not be described in detailhere.

The engine control program 150 is a program for controlling theoperation of the engine 30 of the vehicle 1 when the vehicle 1 is underthe autonomous driving control or the semi-autonomous driving control.The engine control program 150 controls the operation of the engine 30(in other words, the torque output by the engine) based on the travelingschedule of the vehicle 1 generated by the path planning program 140. Aspecific method for controlling the engine 30 based on the travelingschedule of the vehicle 1 can appropriately employ a well-knowntechnology and thus, will not be described in detail here. Anotherprogram (for example, a steering control program) for performing theautonomous driving control or the semi-autonomous driving control may beincluded in addition to or instead of the engine control program 150.

Details of OGM Program

The OGM program 120 will be described in detail with reference to FIG. 3to FIG. 5. FIG. 3 is a conceptual diagram illustrating one example of agrid map accumulated in the OGM program. FIG. 4 is a plan viewillustrating one example of a grid map represented by discrete values.FIG. 5 is a plan view illustrating one example of a grid map representedby a probability distribution.

In FIG. 3, the OGM program 120 generates a two-dimensional grid map perpredetermined period based on the recognition result of the recognitionprogram 110. Thus, a plurality of grid maps as time-series data from thestart of recognition of the object (t=0) until the present time (t=n) isaccumulated in the OGM program 120. Each grid map acquired until thepresent time includes not only object coordinate information indicatingthe position of the object but also an object category (for example, avehicle, a bike, or a human being) indicating the type of the object andan object-specific ID for individually recognizing a plurality ofobjects. While each grid map in the present embodiment is configuredusing two-dimensional relative coordinates parallel to the horizontalplane with the position of the vehicle 1 as a reference, each grid mapmay be configured with three-dimensional coordinates including heightinformation, or may be configured with world coordinates (absolutecoordinates) that are generated using information acquired from a globalpositioning system (GPS) sensor.

The OGM program 120 generates a future grid map based on the predictioninformation input from the motion prediction program 130. Thus, aplurality of grid maps as time-series data of the future (t=n+1 to n+T)from the present time (t=n) is accumulated in the OGM program 120. Eachfuture grid map includes various information included in the grid mapsuntil the present time and also includes the direction of the object,the speed of the object, and a habit category, described in detailbelow, of the object that are acquired from the prediction information.

As illustrated in FIG. 4, for example, the OGM program 120 generates atwo-dimensional grid map as a bitmap that is represented by discretevalues of zero or one. The numerical value of zero or one is theprobability of the presence of the object. A part having zero indicatesthat the object is not present. A part having one indicates that theobject is present.

Alternatively, for example, as illustrated in FIG. 5, the OGM program120 may generate a two-dimensional grid map as a bitmap that isrepresented by continuous values of 0.0 to 1.0 (more specifically, forexample, continuous values at intervals of 0.1). The numerical value of0.0 to 1.0 is the probability of the presence of the object andindicates that the probability of the presence of the object isincreased as the numerical value approaches 1.0 (that is, the numericalvalue is increased).

Details of Motion Prediction Program

The motion prediction program 130 will be described in detail withreference to FIG. 6 to FIG. 9. FIG. 6 is a configuration diagram of themotion prediction program. FIG. 7 is a flowchart illustrating the flowof operation of the motion prediction program. FIG. 8 is a conceptualtable illustrating a method of determining the habit category. FIG. 9 isa conceptual diagram illustrating input and output of the motionprediction program.

In FIG. 6, the motion prediction program 130 includes a recursive neuralnetwork (RNN) 200 and predicts the future position of the object by deeplearning. The RNN 200 includes a neural network layer 300 that isconfigured with a long short-term memory (LSTM) 310 and a deep neuralnetwork (DNN) 320. Information (time-series data) that is output fromthe OGM program 120 and input into the motion prediction program 130 isconfigured to be output back to the OGM program 120 through processes inthe LSTM 310 and the DNN 320. Other neural networks for processing timeseries such as three-dimensional CNN may be used instead of RNN.Hereinafter, the flow of operation of the motion prediction program 130will be described in detail.

In FIG. 7, first, the motion prediction program 130 receives input data(that is, the grid map representing the current surrounding areainformation of the vehicle 1) from the OGM program 120 (step S101). Theinput data from the OGM program 120 may be the data of the grid map ormay be data acquired by compressing the grid map data or difference datawith respect to the past grid map data. The motion prediction program130 inputs the received input data into the neural network layer 300(step S102).

The input data that is input into the neural network layer 300 isprocessed by deep learning in the LSTM 310 and the DNN 320, and theprediction information that indicates the future position of the objectis output from the DNN 320. While the operation of the LSTM 310 and theDNN 320 is a well-known technology and thus, will not be specificallydescribed here, the prediction information output from the DNN 320according to the present embodiment includes, particularly, adetermination parameter for determining the habit category of theobject. The habit category is a preset category for categorizing thebehavioral habit of the object.

As illustrated in FIG. 8, specific examples of the habit category whenthe object is another vehicle include “ordinary (that is, generaldriver)”, “skilled driver”, “beginner driver”, “impatient driver”,“autonomous vehicle”, “aggressive driver”, “vehicle of drunk driver”,and “emergency vehicle”. For example, when the habit category of theobject (vehicle) is determined as “skilled driver”, it can be estimatedthat the object has a high possibility of traveling by selecting anefficient traveling route. When the habit category of the object(vehicle) is determined as “beginner driver”, it can be estimated thatthe object has a possibility of traveling by selecting a traveling routethat is not selected by ordinary drivers.

While the habit category corresponds to the object of which the objectcategory is “vehicle”, the habit category is set per object category.For example, a habit category such as “child”, “student”, “adult”,“senior”, and “drunk person” may be set for an object of which theobject category is “human being”.

The determination parameter is calculated as a parameter that indicatesthe probability of the object as a determination target falling intoeach habit category. In the example illustrated in FIG. 8, theprobability of falling into “impatient driver” is “0.650”, which is thehighest. Thus, the habit category of the object in such a case isdetermined as “impatient driver”.

Returning to FIG. 7, the DNN 320 determines the habit category of theobject (step S103). Since the habit category is categorization of thebehavioral habit of the object, the behavioral habit of the object canbe determined by determining which habit category the object correspondsto. More specifically, the motion that the object has a high possibilityof making henceforth (or the motion that the object has a lowpossibility of making) can be found depending on the habit category intowhich the object falls.

Then, the DNN 320 calculates the direction, the speed, and thecoordinates of the object based on the input data and the determinedhabit category (that is, information indicating the behavioral habit ofthe object) (step S104). The direction, the speed, and the coordinatesof the object can also be calculated from the time-series data withoutusing the habit category. However, when the habit category into whichthe behavioral habit of the object is categorized is used, thecalculated value can be more accurate than when merely the time-seriesdata is used. Lastly, the motion prediction program 130 outputs thepredicted habit category, the direction, the speed, and the coordinatesof the object to the OGM program 120 as the prediction information (stepS105).

As illustrated in FIG. 9, the motion prediction program 130 outputs thefuture prediction information each time the OGM program 120 generates atwo-dimensional grid map (that is, continuously per predeterminedperiod). At such a time, the input data that is input from the OGMprogram is not the grid map generated by the OGM program 120, and is thegrid map generated based on the prediction information that has alreadybeen acquired from the motion prediction program 130 (in other words,the grid map that is acquired by updating the grid map generated by theOGM program 120 based on the prediction information). Thus, the inputdata from the OGM program 120 also includes “habit category”, “objectcoordinates”, “object direction”, and “object speed” that are not easilyestimated from the recognition result of the recognition program 110. Apreset initial value may be used for each of “habit category”, “objectcoordinates”, “object direction”, and “object speed” in the input datain a state where the prediction information is not acquired yet.

As described thus far, the grid map that is generated based on theprediction information includes information that is not included in thegrid map generated from the recognition result. Thus, when predictioncontinues using the grid map that is updated based on the predictioninformation, the future position of the object can be more accuratelypredicted than when prediction is performed using merely the grid mapgenerated from the recognition result of the recognition program 110.

Program Optimization

Optimization of the recognition program 110, the OGM program 120, andthe motion prediction program 130 (that is, learning for making theoutput of each program more appropriate) will be described withreference to FIG. 10 to FIG. 12. FIG. 10 is a conceptual diagramillustrating individual optimization of the recognition program 110.FIG. 11 is a conceptual diagram illustrating individual optimization ofthe motion prediction program 130. FIG. 12 is a conceptual diagramillustrating global optimization of three programs. Optimizationdescribed below is assumed to be performed before the vehicle systembecomes available on the market.

As illustrated in FIG. 10 and FIG. 11, in the present embodiment, first,individual optimization of each of the recognition program 110 and themotion prediction program 130 is executed. The individual optimizationof the recognition program 110 is performed by comparing a recognitionresult y0 with training data t0 corresponding to the recognition resulty0. The recognition result y0 is the output of the recognition program110 for sensor input x. The training data t0 is a specific example of“first training data”. Specifically, a learning parameter of therecognition program 110 is optimized to approximate the recognitionresult y0 to the training data t0. The individual optimization of themotion prediction program 130 is performed by comparing predictioninformation y2 with training data t2 corresponding to the predictioninformation y2. The prediction information y2 is the output of themotion prediction program 130 for time-series data y1 (that is, theinput data from the OGM program 120). The training data t2 is a specificexample of “second training data”. Specifically, a learning parameter ofthe motion prediction program 130 is optimized to approximate theprediction information y2 to the training data t2.

For example, the learning parameter may be optimized by finding alearning parameter that minimizes the value of an error function in amachine learning model. Stochastic gradient descent (SGD), adaptivemoment estimation (Adam), and the like can be used as a specific method.Such a method is a well-known technology and thus, will not be describedin detail here. Other well-known technologies can also be employedinstead of such an optimization method.

Simulation may be performed under a preset condition in order to acquiretraining data used in optimization. Specifically, when a simulation inwhich the driver of which the habit category is determined (for example,a beginner driver or a skilled driver in actuality) is caused to driveas determined in advance around the vehicle 1 in which the vehiclesystem according to the embodiment is mounted is performed, the trainingdata t0 corresponding to the recognition result y0 and the training datat2 corresponding to the prediction information y2 can be acquired.

As illustrated in FIG. 12, in the present embodiment, globaloptimization of the recognition program 110, the OGM program 120, andthe motion prediction program 130 is performed after the individualoptimization. The global optimization of the three programs is performedby comparing the prediction information y2, which is the output of themotion prediction program 130 when the sensor input x is input into therecognition program 110, with the training data t2 corresponding to theprediction information y2.

The global optimization may be performed in the same manner as theindividual optimization by finding the learning parameters of therecognition program 110 and the motion prediction program 130(furthermore, the OGM program 120) that minimize the value of an errorfunction in a machine learning model. However, while optimizationspecialized for the function of each of the recognition program 110 andthe motion prediction program 130 is performed in the individualoptimization, learning that achieves the optimal result of the threeprograms as a whole is implemented in the global optimization. Thus, amore appropriate result can be achieved than when merely the individualoptimization is executed.

The global optimization uses a large number of parameters and has a highcalculation load, compared to the individual optimization. Regardingsuch a point, the global optimization in the present embodiment isexecuted in a state where each of the recognition program 110 and themotion prediction program 130 is optimized by the individualoptimization. Thus, the calculation load can be decreased further thanwhen the global optimization is executed from the initial state. Theglobal optimization considers the operation of all of the threeprograms. Thus, merely executing the global optimization may not reachthe true optimal value that may be acquired in the individualoptimization specialized for the function of each program (that is, theeffect of optimization may not be sufficiently achieved). However, inthe present embodiment, the individual optimization is executed first,and then, the global optimization is executed. Thus, the effect ofoptimization can be increased further than when merely the globaloptimization is performed.

As described thus far, the vehicle system according to the presentembodiment executes the global optimization after executing theindividual optimization and thus, can increase the effect ofoptimization to the maximum level while reducing the calculation loadneeded for optimization. Consequently, the prediction accuracy of theprediction information output from the motion prediction program 130 isincreased, and various controls (for example, control of the engine 30performed by the engine control program 150) that use the predictioninformation can be suitably executed.

The program optimization for the recognition program 110, the OGMprogram 120, and the motion prediction program 130 may be executedonline after the vehicle system becomes available on the market(specifically, after the vehicle 1 starts being used). As describedabove, the program optimization can be executed when input data, outputdata, and training data for each program are provided. Thus, when aconfiguration that can accumulate traveling data of the vehicle 1 isemployed, optimization can be performed using the accumulated actualtraveling data of the vehicle 1, and the accuracy of the predictioninformation can be further increased. In such a case, since theindividual optimization is executed before the vehicle system becomesavailable on the market, merely the global optimization may be a newexecution.

In the vehicle system according to an aspect of the present disclosure,the third program may be configured to predict the future position ofthe object using a behavioral habit of the object that is determinedfrom the time-series map data.

According to the aspect of the present disclosure, the future positionof the object can be more accurately predicted using the behavioralhabit (in other words, behavioral tendency) of the object.

In the vehicle system according to the aspect of the present disclosure,the third program may be configured to determine the behavioral habit ofthe object by determining which category of a plurality of preset habitcategories a determination parameter calculated from the time-series mapdata corresponds to.

According to the aspect of the present disclosure, the future positionof the object can be more accurately predicted in accordance with thehabit category (for example, beginner driver, skilled driver, andimpatient driver) that is determined by the determination parameter.

In the vehicle system according to the aspect of the present disclosure,the object may be another vehicle, and the habit categories may includegeneral driver, skilled driver, beginner driver, impatient driver,autonomous vehicle, aggressive driver, vehicle of drunk driver, andemergency vehicle.

In the vehicle system according to the aspect of the present disclosure,the electronic control unit may be configured to set a traveling path ofthe vehicle based on the future position of the object predicted byexecuting the third program.

According to the aspect of the present disclosure, the vehicle cansuitably travel while avoiding collision with or approach to the objectpresent around the vehicle.

The vehicle system according to the aspect of the present disclosure mayfurther include a sensor configured to detect the object present aroundthe vehicle. The first program may be configured to compare arecognition result for the object with respect to input from the sensorwith the first training data and optimize a learning parameter toapproximate the recognition result to the first training data.

In the vehicle system according to the aspect of the present disclosure,the third program may be configured to compare prediction informationfor the time-series map data with the second training data and optimizethe learning parameter to approximate the prediction information to thesecond training data.

In the vehicle system according to the aspect of the present disclosure,the first training data and the second training data may be acquiredbased on a result of simulation performed under a preset condition.

In the vehicle system according to the aspect of the present disclosure,the third program may include a recursive neural network and beconfigured to predict the future position of the object by deeplearning.

The present disclosure is not limited to the embodiment and can beappropriately modified without violating the nature or spirit of thedisclosure read from the claims and the entire specification. Suchvehicle systems accompanying modifications also fall within thetechnical scope of the present disclosure.

What is claimed is:
 1. A vehicle system comprising a sensor and anelectronic control unit that is configured to execute a first program, asecond program, and a third program, the first program being configuredto recognize an object present around a vehicle based on an input of thesensor, the second program being configured to store information relatedto the object recognized by the first program as time-series map data,and the third program being configured to predict a future position ofthe object based on the time-series map data stored by the secondprogram; wherein the first program and the third program are configuredto be (i) first, individually optimized using first training datacorresponding to output of the first program and using second trainingdata corresponding to output of the third program, respectively, theoutput of the first program being based on the input of the sensor, theoutput of the third program being based on the time-series map data ofthe second program and (ii) then, collectively optimized by comparing anoutput of the third program to a different second training data based ona second input of the sensor.
 2. The vehicle system according to claim1, wherein the third program is configured to predict the futureposition of the object using a behavioral habit of the object that isdetermined from the time-series map data.
 3. The vehicle systemaccording to claim 2, wherein the third program is configured todetermine the behavioral habit of the object by determining whichcategory of a plurality of preset habit categories a determinationparameter calculated from the time-series map data corresponds to. 4.The vehicle system according to claim 3, wherein: the object is anothervehicle; and the habit categories include general driver, skilleddriver, beginner driver, impatient driver, autonomous vehicle,aggressive driver, vehicle of a drunk driver, and emergency vehicle. 5.The vehicle system according to claim 1, wherein the electronic controlunit is configured to set a traveling path of the vehicle based on thefuture position of the object predicted by executing the third program.6. The vehicle system according to claim 1, further comprising a sensorconfigured to detect the object present around the vehicle, wherein thefirst program is configured to compare a recognition result for theobject with respect to input from the sensor with the first trainingdata and optimize a learning parameter to approximate the recognitionresult to the first training data.
 7. The vehicle system according toclaim 6, wherein the third program is configured to compare predictioninformation for the time-series map data with the second training dataand optimize the learning parameter to approximate the predictioninformation to the second training data.
 8. The vehicle system accordingto claim 7, wherein the first training data and the second training dataare acquired based on a result of a simulation performed under a presetcondition.
 9. The vehicle system according to claim 1, wherein the thirdprogram includes a recursive neural network and is configured to predictthe future position of the object by deep learning.
 10. A vehicle systemcomprising a sensor and an electronic control unit that is configured toexecute a first program, a second program, and a third program, thefirst program being configured to recognize an object present around avehicle based on an input of the sensor, the second program beingconfigured to store information related to the object recognized by thefirst program as time-series map data, and the third program beingconfigured to predict a future position of the object based on thetime-series map data stored by the second program, wherein: the firstprogram is individually optimized by comparing a recognition result tofirst training data, the recognition result being an output of the firstprogram for the input of the sensor, the first training datacorresponding to the recognition result of the first program, the thirdprogram is individually optimized by comparing prediction information tosecond training data, the prediction information being an output of thethird program for the time-series map data of the second program, thesecond training data corresponding to the prediction information of thethird program, and the first program and the third program arecollectively optimized by comparing an output of the third program to adifferent second training data based on a second input of the sensorafter the first program and the third program are individuallyoptimized.
 11. The vehicle system according to claim 10, wherein thethird program is configured to predict the future position of the objectusing a behavioral habit of the object that is determined from thetime-series map data.
 12. The vehicle system according to claim 11,wherein the third program is configured to determine the behavioralhabit of the object by determining which category of a plurality ofpreset habit categories a determination parameter calculated from thetime-series map data corresponds to.
 13. The vehicle system according toclaim 12, wherein: the object is another vehicle; and the habitcategories include general driver, skilled driver, beginner driver,impatient driver, autonomous vehicle, aggressive driver, vehicle of adrunk driver, and emergency vehicle.
 14. The vehicle system according toclaim 10, wherein the electronic control unit is configured to set atraveling path of the vehicle based on the future position of the objectpredicted by executing the third program.